JP2017029400A - Walking assist device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a walking assist device allowing a user to stably walk and providing a sense of stability to the user during rest.SOLUTION: The walking assist device includes: front-face support means that comes into contact with the chest, the abdominal region, the hypogastric region, or the like of a user and directly supports the front face of a trunk; and moving assist means that can move the walking assist device in the horizontal direction with respect to a floor surface or the ground. In walking and standing still, the walking assist device can move along with walking of the user, with the front face of the user's trunk supported. The walking assist device further includes lower-side support means for supporting the weight of the user from the lower side.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a walking assistance device that assists the movement of a person.

  For example, in a rehabilitation ward or the like in a hospital, walking training may be performed using a walking assist device in order to prevent a patient or an elderly person with impaired walking function from becoming bedridden and to promote independent walking. In addition, even for healthy persons, for example, when walking in a commercial facility, a museum, or a museum with a large site area on foot for a long time, the walking assist device is used to assist walking, or the walking assist device is used during walking. It may be required to take a rest as appropriate.

  As a walking assist device used at such time, a frame body that is substantially U-shaped in plan view is formed by a connecting portion that connects the left and right frame portions and the other frame portion at the front lower part, A walking assist device configured to be provided with a pair of left and right traveling wheels at the front and rear at the lower part of the frame body, with one of the front and rear traveling wheels as a free wheel, and steerable with a handle provided at the upper end of the frame portion, An operator (patient or the like) who operates the walking assist device can easily pass through the connecting portion by positioning at least the middle portion of the connecting portion below the pivot supporting portion that pivots the traveling wheel on the frame body. The thing (for example, refer patent document 1) which did it is known.

  In addition, it is a walking assistance device for supporting the user in a standing posture and assisting the walking motion when the user tries to walk on the walking surface, has a driving wheel, and rotates the driving wheel. A main body movable on the walking surface, side support means provided on the main body for receiving the user's side, elbow support means provided on the main body for receiving the user's elbow, and provided on the main body And a back contact means for receiving the back of the user and pressing the back of the user when the main body moves (for example, see Patent Document 2).

  However, even though humans tend to take a forward leaning posture when walking, conventional walking assistance devices do not support the human torso directly from the front, which makes walking unstable and user There was a case to give anxiety to.

JP 2010-162114 A JP-A-10-216183 International Publication No. 2010/140560

  The present invention has been devised in view of the above-described present situation, and an object thereof is to provide a walking assist device that enables stable movement and can give a sense of stability to the user even when stationary. That is.

  In order to solve the above problems, the walking assist device of the present invention employs the following configuration.

The walking assist device according to the present invention is characterized in that it can directly support the front of the user's torso during walking and at rest, and can move along with the user's walking while supporting the front of the user. Yes.

  More specifically, the walking assistance device includes a front support portion 7 that directly supports the front surface of the user's torso, and a movement assistance means that enables the walking assistance device to move in the horizontal direction with respect to the floor surface or the ground. It is characterized by providing.

  According to this, when the user takes a forward leaning posture, the front of the user's torso is directly supported, so that the user can be stably supported, and the user is less likely to feel uneasy. In addition, since the front support means supports the user's upper body, the user does not have to hold the upper body by holding on to the walking assist device as in the conventional case, and the upper body's muscle strength, particularly hands and arms. You can walk stably without using the power of.

  The front support means may be a front contact member that contacts the chest, abdomen, or lower abdomen of the user. As a result, the user's chest, abdomen, or lower abdomen is in contact with the front support means while the user is tilted forward during use, and the force that pushes the user forward and the force that suppresses the user from above are aided walking through the front support means. It is transmitted to the device, and the pedestrian can move with the walking assistance device without difficulty, and the control of the walking assistance device becomes easy.

  The walking assist device may further include lower support means for supporting the weight of the user from the lower side. The lower support means may have a seatable saddle or belt that supports the weight of the user.

  According to this, since the user's weight is applied to the saddle of the lower support means, it is not necessary to support his / her body weight with the foot, and most of the force of the foot can be used for movement, so that the user can walk easily. For this reason, for example, even a person whose leg muscle strength has declined due to aging or the like can walk without difficulty with his own power. In particular, most of the force of the foot can be used for movement by the lower support means, and transmission and control of this force are facilitated by the front support means, so that stable walking is possible without difficulty.

  The movement assist means includes at least one or more wheels connected to the front support means and the lower support means. The movement assisting means includes two wheels provided in front of the front support means and the lower support means, and one wheel provided rearward of the front support means and the lower support means. It may be a wheel. The movement assisting means includes two wheels provided in front of the front support means and the lower support means, and two wheels provided on the rear side of the front support means and the lower support means. The distance between the two wheels provided on the rear side of the front support means and the lower support means may be 10 to 25 cm. Further, an interval between two wheels provided in front of the front support means and the lower support means is 30 cm to 60 cm, a midpoint of a straight line connecting the two wheels, the front support means, The distance from the wheel provided on the rear side of the lower support means may be 40 cm to 150 cm. According to this, when a user takes a forward leaning posture, two wheels are arranged in front of which a force is applied, thereby enabling stable walking. Further, by appropriately setting the distance between the front wheels, the so-called tread width, and the distance between the front wheels and the rear wheels, the so-called wheel base, stable walking is possible. Further, the distance between two wheels provided in front of the front support means and the lower support means may be changeable. If it does so, it will become possible to change the space | interval of the two wheels provided ahead from the front support means and the said lower side support means suitably, and to walk more stably. Furthermore, the space can be saved by narrowing the distance between the two wheels when the device is stored.

The walking assist device includes a holding portion to which the front support means and the lower support means are fixed, and two wheels provided in front of the holding portion, the front support means, and the lower support means. A front frame that connects each of the two, and a rear frame that connects the holding portion and one wheel provided behind the front support means and the lower support means.

  According to this, when the user takes a forward leaning posture, the front frame that holds each of the two wheels is placed in front of which the force is applied, and the one wheel is held behind so that stable walking is achieved. This makes it possible to easily handle the walking assist device.

  The walking assist device may include an upper limb support frame that is held by the holding unit and is supported by the user with the upper limb or places the upper limb. According to this, the user can control the upper limb support frame with the upper limb, and the operation of determining the moving direction becomes easy. Further, the user can walk with the upper limb supporting frame supported by the upper limb or the upper limb placed on the upper limb supporting frame, and the stability during walking can be further improved.

  At least one of the front frame and the rear frame may be formed by bending a tubular member. The upper limb support frame may be formed by bending a tubular member. According to this, the number of parts of the apparatus and the manufacturing process can be reduced, and the cost reduction of the apparatus can be promoted.

  In the walking assist device, ends of the front frame and the rear frame may be bundled in parallel and held by the holding unit. In the walking assist device, the ends of the upper limb support frame, the front frame, and the rear frame are arranged on the same plane, and the ends of the frames are held on the mounting surface of the planar holding unit. May be. According to this, since the number of parts and the manufacturing process of the apparatus can be reduced, it is possible to further promote the cost reduction of the apparatus.

  Further, the holding portion is provided at a predetermined height from the floor surface or the ground, for example, at a position above the user's foot, and the front frame is bent from the holding portion to the front of the device, to the front of the device. It extends, is bent downward in the apparatus at the front end of the apparatus, and the wheel is provided at the lower end. According to this, the front frame does not interfere with the space at the foot of the user, particularly the range where the user steps from the standing position, and the degree of freedom of walking is increased.

  In addition, said means can be used in combination with each other as much as possible.

  ADVANTAGE OF THE INVENTION According to this invention, while being able to walk stably, the walk assistance apparatus which can give a user a sense of stability also at the time of stillness can be provided.

It is the rear view and side view which show schematic structure of the walking assistance apparatus which concerns on Example 1 of this invention. It is the front view and top view which show schematic structure of the walking assistance apparatus which concerns on Example 1 of this invention. It is a figure which shows the relationship with the user at the time of use of the walking assistance apparatus which concerns on Example 1 of this invention. It is a figure which shows the structure of the holding | maintenance part which concerns on Example 1 of this invention. It is a figure which shows the structure of the front surface support part which concerns on Example 1 of this invention. It is a figure which shows the structure of the lower side support part which concerns on Example 1 of this invention. It is explanatory drawing of the rotation state of the lower side support part which concerns on Example 1 of this invention. It is a top view which shows the rotation state of the saddle which concerns on Example 1 of this invention. It is a figure which shows the example of the saddle which concerns on Example 1 of this invention. It is a figure which shows the example transferred to a toilet bowl from a walk assistance apparatus. It is a figure which shows an example of the wheel which concerns on Example 1 of this invention. It is a figure which shows schematic structure of the walking assistance apparatus which concerns on Example 3 of this invention. It is a figure which shows the modification of the walking assistance apparatus which concerns on Example 3 of this invention. It is a figure which shows an example of the walk assistance apparatus for farm work. It is a figure which shows schematic structure of the walking assistance apparatus which concerns on Example 5 of this invention. It is a figure which shows schematic structure of the walking assistance apparatus which concerns on Example 6 of this invention. It is a figure which shows schematic structure of the walking assistance apparatus which concerns on Example 7 of this invention. It is a figure which shows the state which folded the front side frame and the upper limb support frame. It is a figure which shows schematic structure of the push-through bending apparatus which produces each flame | frame of this invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[Example 1]
1 to 3 are schematic views of the walking assist device 10 according to the present embodiment. 1A is a rear view, FIG. 1B is a side view, FIG. 2A is a front view, and FIG. 2B is a plan view. 1B is a side view when viewed from the left side of FIG. 1A, but the side view when viewed from the right side of FIG. 1A is also the same shape as FIG. Appears symmetrically. Therefore, in the following description, the case where the apparatus is viewed from the right side by appropriately changing the reference numerals of the components in FIG. The same applies to the other side views below.

  Further, in standard use of the walking assist device 10, the back side perpendicular to the paper surface in FIG. 1A is the front, and the near side perpendicular to the paper surface is the back. As shown in FIG. 1A, the walking assist device 10 has five frames: an upper limb support frame 1, a right front frame 2, a left front frame 3, a right rear frame 4, and a left rear frame 5. Further, both ends of the upper limb support frame 1 and one end of the right front frame 2, the left front frame 3, the right rear frame 4, and the left rear frame 5 are held by the holding unit 6. Here, the right front frame 2 and the left front frame 3 correspond to the front frame. The right rear frame 4 and the left rear frame 5 correspond to the rear frame. At least one of the front frame and the rear frame is formed by bending a tubular member.

  As can be seen from FIG. 1B, the left front frame 3 is bent from the holding portion 6 to the left front of the device, extends to the left front of the device, is bent downward at the front of the device, and has a wheel 13 at the lower end. Yes. Although not shown in FIG. 1B, the right front frame 2 also has a symmetrical shape with the left front frame 3, extends to the right front side of the apparatus, and has a wheel 12 at the lower end. The left rear frame 5 extends downward from the holding unit 6 and is bent rearward of the apparatus at a bent part 5a and extends rearward of the apparatus. Although not shown in FIG. 1B, the right rear frame 4 also has a symmetrical shape with the left rear frame 5 and extends rearward of the apparatus. Wheels 14 are provided in the vicinity of the rear ends of the right rear frame 4 and the left rear frame 5. The wheel 14 has a tire 14b mounted on two wheels 14a connected by an axle (not shown), and the two tires 14b and the wheel 14a constitute one wheel 14. The wheel 14 is supported by a bearing mechanism 16 fixed to the rear frames 4 and 5, and the bearing mechanism 16 has a brake (braking device) that brakes the rotation of the axle.

  One end of the upper limb support frame 1 extends obliquely upward from the holding portion 6 toward the outside, is bent forward of the apparatus by a bent portion 1a (FIG. 1 (b)), and is viewed from the bent portion 1a in plan view (FIG. 2). (B)) is wound horizontally so as to be substantially elliptical, and the opposite end portion is held by the holding portion 6 symmetrically with respect to the one end portion. A brake lever 19 that operates the brake of the wheel 14 is provided on the right front side of the upper limb support frame 1. The upper limb support frame 1 is formed by bending a tubular member.

  A front support portion 7 is provided on the opposite surface of the holding portion 6 with the frames 1 to 5 interposed therebetween. The front support 7 is a member that directly supports the front of the user's torso, and is an example of a front support that contacts the chest, abdomen, or lower abdomen of the user.

  Further, a lower support portion 9 is provided at an intermediate portion between the holding portion 6 of the rear frames 4 and 5 and the wheel 12. The lower support unit 9 is an example of a lower support unit that supports the weight of the user from below, and includes a support column 91, a saddle 92, and a rotation mechanism 93. The rotation mechanism 93 is fixed on the rear frames 4 and 5 and holds the column 91 so that the column 91 can be rotated backward. A saddle 92 on which a user is seated is provided at the upper end of the column 91.

  The user uses the walking assistance device 10 having the above configuration in a posture as shown in FIG. That is, the user sits on the saddle 92, abuts the abdomen and chest on the front support part 7, puts the arm on the upper limb support frame 1, and grips the vicinity of the brake lever 19 mounting position of the upper limb support frame 1 with the right hand. The user then leans on the front support 7 and walks in a desired direction while holding the upper limb support frame 1. Note that the right front wheel 12 and the left front wheel 13 can rotate around a vertically extending rotary shaft. Therefore, the direction can be easily changed regardless of the direction the user walks.

  Further, in the walking assistance device 10 of the present embodiment, the distance (tread width) between the two wheels 12 and 13 provided in front of the front support portion 7 and the lower support portion 9 is 44 cm, and the two The distance (wheel base) between the midpoint of the straight line connecting the wheels 12 and 13 and the wheel 14 provided on the rear side of the front support means and the lower support means is 85 cm. The tread width and the foil base are not limited to this, and for example, the tread width may be 30 cm to 60 cm and the foil base may be 40 cm to 150 cm.

  The front support portion 7, the lower support portion 9, and the upper limb support frame 1 are provided between the wheels 12 and 13 provided in the front and the wheels 14 provided in the rear in the front-rear direction of the walking assist device 10, In the left-right direction of the walking assistance device 10, it is provided between the wheels 12, 13 provided on the left and right. Further, the front support portion 7, the lower support portion 9, and the upper limb support frame 1 are within a triangular range having, for example, wheels 12 and 13 provided at the front and wheels 14 provided at the rear as vertices in a plane. It is desirable to be placed.

  In this embodiment, the height from the floor or the ground (hereinafter, also simply referred to as a ground contact surface) to the upper limb support frame 1 is 100 cm, and the height from the ground surface to the saddle 92 is between 30 to 60 cm. Can be adjusted.

  Furthermore, in the front-rear direction of the walking assist device 10, the distance from the lower part of the front support 7 to the center of the saddle 92 is 23 cm. The distance between the front support 7 and the saddle 92 is not limited to this, and may be 12 to 40 cm.

  In addition, these specific dimensions are an example and are not limited to this. Further, it may be adjustable according to the physique of the user, or a plurality of sizes may be prepared.

FIG. 4 shows a schematic configuration of the holding unit 6. The holding portion 6 is a plate-like member that holds the end portions of the frames 1 to 5, and a part of the outer peripheral surface at the end portion of the frames 1 to 5 is attached to the mounting surface as shown in FIG. It has a positioning groove 6a to be fitted. In this embodiment, the end portions of the frames 1 to 5 are fitted in the grooves 6a and fixed with screws 6b as shown in FIG. 4B. That is, the ends of the front frames 2 and 3 and the rear frames 4 and 5 are bundled in parallel,
It is held by the holding unit 6. The end portions of the frames 1 to 5 are arranged on the same plane, and the end portions of the frames 1 to 5 are held on the mounting surface of the flat holding portion 6. Thus, by providing the positioning groove 6a in the holding portion 6, positioning when attaching the frames 1 to 5 to the holding portion 6 is facilitated, and the frames 1 to 5 are fastened with screws 6b. It is possible to suppress backlash.

  In addition, in this example, although the shape of the groove | channel 6a was made into the cross-sectional arc shape which corresponds with the outer peripheral surface of each flame | frame 1-5, not only this but each flame | frame 1-5 so that the shakiness at the time of fastening may be suppressed. Any shape can be used as long as a part of the outer peripheral surface fits. For example, the groove 6a may be a groove having a V-shaped cross section. The material of the holding part 6 is not particularly limited as long as it has rigidity to hold the frames 1 to 5 such as metal, wood, plastic, etc., but metal is desirable from the viewpoint of durability and the like. In this example, although each frame 1-5 was fixed to the holding | maintenance part 6, you may fasten the edge parts of each frame 1-5 with a screw | thread etc. and may comprise a holding | maintenance part.

  FIG. 5 is a diagram showing the configuration of the front support 7. As shown in FIG. 5A, the front support portion 7 of this example is composed of an abdominal support portion 7a that contacts the user's abdomen and lower abdomen, and a chest support portion 7b that contacts the user's chest. . In the abdomen support part 7a and the chest support part 7b, pads 72a, 72b, 72c having elasticity are attached to the rear surfaces of the metal plates 71a, 71b, that is, the user side surfaces, respectively. The pads 72a, 72b, and 72c have a configuration in which urethane foam is covered with leather. However, the pad 72a, 72b, and 72c are not limited to this, and any pad may be used as long as it can ensure cushioning when the user's body is in contact.

  The front support portion 7 is fixed to the holding portion 6 with the screws between the ends of the frames 1 to 5. FIG. 5B shows the front surfaces of the plates 71 a and 71 b, that is, the surfaces that come into contact with the end portions of the frames 1 to 5 when attached to the holding portion 6. As shown in FIG. 5B, a positioning groove 73 into which a part of the outer peripheral surface of each of the frames 1 to 5 is fitted is provided on the front surface of the plates 71a and 71b of the front support portion 7. Thus, by providing the positioning grooves 73 in the plates 71a and 71b, when the plates 71a and 71b are attached to the holding portion 6, it is possible to suppress the rattling of the front support portion 7. In this example, the shape of the groove 73 is a cross-sectional arc shape that matches the outer peripheral surface of each of the frames 1 to 5. However, the present invention is not limited to this, and each frame 1 to 5 is controlled so that rattling at the time of fastening is suppressed. Any shape can be used as long as a part of the outer peripheral surface fits.

  The abdomen support part 7a of the front support part 7 is attached so that the contact surface with the user is substantially vertical. The chest support portion 7b has a contact surface with the user at the pad 72b at the lower end that is substantially vertical, and curves forward as it goes upward. The curvature of the chest support portion 7b increases on the vertical plane along the front-rear direction of the walking assist device 10 as the curvature goes upward. The chest support portion 7b is not limited to a curved shape, and may be a flat plate shape inclined forward.

  The chest support portion 7b of the present embodiment is shaped along the abdomen and chest when the user leans forward when walking, and the lower abdomen support portion 7a is vertical or slightly leaned forward. The upper chest support portion 7b is curved forward and supports the user's chest from the diagonally lower front side. Specifically, the lower end of the pad 72a of the abdomen support part 7a is 50 cm from the ground surface, 33 cm from the lower end to the upper part of the pad 72b is substantially vertical, and the upper part of the pad 72b is curved forward. The upper end of the front support portion 7 has a height of 104 to 114 cm from the ground contact surface, and protrudes 15 cm forward from the lower end due to the forward curve. These specific dimensions may be adjustable according to the physique of the user, or a plurality of sizes may be prepared.

FIG. 6 is a diagram showing a configuration of the lower support portion 9. A support piece 91a projecting in a plate shape toward the rear is provided at the lower part of the support column 91. The frame bodies 93R and 93L of the rotation mechanism 93 sandwich the support piece 91a from the left and right sides, and the frame 93L has a frame. The support piece 91a is rotatably supported by a rotation shaft 93c inserted through the body 93R. The rotation shaft 93c is a shaft that extends horizontally in the left-right direction of the walking assistance device 10, and the support piece 91a rotates about the rotation shaft 93c, whereby the support column 91 tilts in the front-rear direction. Further, a coil portion of a torsion coil spring 93b is fitted on the rotation shaft 93c, one end of the torsion coil spring 93b is fixed to the frame body 93, and the other end is fixed to the support piece 91a, and the support piece 91a is rotated. The shaft 93c is urged forward.

  FIG. 7 is an explanatory diagram of the rotating state of the lower support portion 9. In a state where no external force is applied to the saddle 92 and the column 91, the support piece 91a is urged by the torsion coil spring 93b, and the bottom portion of the support piece 91a abuts against the bottom portion 93f of the frame body 93 and stops. At this time, the support column 91 is supported in a state of being vertically or slightly inclined forward as indicated by a solid line. Since the user uses the walking assist device 10, when the body is put in front of the saddle 92, if the saddle 92 is pushed backward, the support piece 91 a rotates around the rotation shaft 93 c, thereby the saddle 92. And the support | pillar 91 tilts back as shown by a dotted line.

  The saddle 92 is held so as to be rotatable about a rotation axis extending in the longitudinal direction of the support column 91. FIG. 8 is a plan view showing the rotating state of the saddle 92. As shown in FIG. 8, since the saddle 92 can be rotated to the left and right, the saddle 92 rotates as the user walks. For example, when the user puts out the right foot forward and the left foot is positioned relatively behind, the saddle 92 is also moved to the front and the left portion is behind, as shown in FIG. Rotate counterclockwise. In addition, when the user puts the left foot forward and the right foot is positioned relatively behind, the saddle 92 is also moved forward by the movement of the body so that the left side is the front and the right side is the back. , Rotate clockwise.

  The saddle 92 has a wide rear width and a narrow front width. However, the present invention is not limited to this, and the planar shape of the saddle 92 may be a circle, an ellipse, a polygon, or the like. Further, in the walking assist device of the present embodiment, since the user has a forward leaning posture, the seat surface of the saddle 92 is raised forward as shown in FIG. 9A so that the seating position does not shift forward. It may be formed as follows. Further, as shown in FIG. 9B, the seat surface of the saddle 92 may be formed in a bowl shape so that the front and the rear are higher than the interval therebetween.

  As described above, the walking assist device 10 of the present embodiment can directly support the front of the user's torso during walking and at rest, and can move along with the user's walking while supporting the front of the user. It is said. More specifically, the walking assist device 10 directly supports the front surface of the user's torso, and the movement support that enables the walking assist device to move horizontally relative to the floor or the ground. Parts 12, 13, and 14.

  According to this, even when the user takes a forward leaning posture, the front surface of the user's torso is directly supported, so that stable assistance can be provided, and there is less concern for the user. In addition, since the front support portion 7 supports the user's upper body, the user does not have to hold the upper body by holding the walking assist device 10 as in the prior art, and the upper body's muscle strength, particularly the hand. You can walk stably without using arm and arm power. That is, even in the case of a person who has lost a part of his arm or a person who cannot hold the upper limb support frame 1 due to paralysis or aging, the walking assist device 10 can be used without any trouble. Further, the front support 7 and the lower support 9 are provided with belts, and the user's body is fixed to the front support 7 and the lower support 9 so that the riding position is shifted and the user can move from the saddle 92. It can be prevented from falling.

The front support portion 7 is a front contact member that contacts the chest, abdomen, or lower abdomen of the user. As a result, the user's chest, abdomen or lower abdomen are in contact with the front support part 7 while the user is tilted forward during use, and the force pushing forward from the user and the force restraining from above are provided via the front support part 7. The information is transmitted to the walking assist device 10 so that the pedestrian can move with the walking assist device 10 without difficulty and the control of the walking assist device 10 is facilitated. In other words, the force of the legs during walking can be transmitted to the front support part 7 through the chest, abdomen, and lower abdomen of the user, and the walking assist device 10 can be pushed throughout the body. .

  The walking assist device 10 includes a lower support portion 9 that supports the weight of the user from the lower side. Further, the lower support portion 9 has a saddle 92 on which a user can sit. According to this, since the user's weight is applied to the saddle 92 of the lower support portion 9, there is no need to support his / her weight with the foot, and most of the force of the foot can be used for movement, so that the user can walk easily. . For this reason, for example, even a person whose leg muscle strength has declined due to aging or the like can walk without difficulty with his own power. In particular, since the walking assist device 10 of the present embodiment includes the front support portion 7 and the lower support portion 9, the front support portion uses the force of the foot that can be used for movement by the lower support portion 9. 7 can be easily transmitted and controlled, so that stable walking is possible without difficulty. In addition, since the walking assist device 10 supports the user's weight in a distributed manner by the front support portion 7 and the lower support portion 9, the lower support portion 9 has less pressure on the buttocks and has a good feeling of use. It is obtained and suitable for long-time use. Furthermore, since the walking assist device 10 stably supports the front surface of the user in a wide range by the front support portion 7 and the lower support portion 9, the user can relax and is suitable for watching TV, reading, and the like. Available to:

  Further, the walking assistance device 10 of the present embodiment is not limited to simple walking assistance, but can also be used for assistance in operations such as shopping and farm work. For example, a basket (not shown) may be attached to the front surface of the holding unit 6, a product purchased at a store may be put into the basket and carried to a cash register, and the purchased product may be taken into the basket and taken home. Furthermore, even when shopping is prolonged, the user can sit on the saddle 92 and rest while leaning on the front support portion 7, so that shopping can be performed without difficulty. In addition, the farmer harvests the crop while the user is leaning against the front support 7 and transports the harvested product in the basket, or stores the fertilizer in the basket and moves it while spraying it. Available. In particular, the farm work is often done by leaning forward at the middle waist, using the walking assist device 10 of this embodiment, by allowing the front support portion 7 to hold the user's front face, Agricultural work can be reduced. Further, in house cultivation, plants to be cultivated are placed on a shelf or a stand so as to effectively use the space, and a passage for performing work on these plants is also set in advance. By using a walking assistance device having a size corresponding to the arrangement of the lanes, the width of the passage, etc., the cultivation work in the house can be performed efficiently.

  Furthermore, the walking assistance device 10 of the present embodiment can also be used for transfer to a bed or a toilet. FIG. 10 is a diagram illustrating an example of transferring from the walking assistance device 10 to the toilet. The user approaches the toilet bowl 61 while retreating with the walking assistance device 10, holds the brake lever 19 at a position where the rear end of the walking assistance device 10 reaches the front surface of the toilet bowl 61, and locks in a braked state. . Then, the user grasps the upper limb support frame 1, moves the standing position backward, protrudes the buttocks onto the toilet bowl 61, and lowers the buttocks to sit on the toilet bowl 61. At this time, an adjustment mechanism for adjusting the height of the saddle 92 to substantially the same height as the seat surface of the toilet bowl 61 may be provided so that the heel portion can be easily moved to the toilet bowl 61 (transfer destination). Further, an adjustment mechanism that slides the saddle 92 backward may be provided so that the heel portion can be easily moved to the toilet 61 (transfer destination). The adjustment mechanism may be adjusted by the user or electrically adjusted. After the addition, the user tilts the upper body forward, grasps the upper limb support frame 1 along the lower support portion 9 and the front support portion 7, moves the standing position forward, and moves the lower support portion 9 Sit on the saddle 92, unlock the brake lever 19 and move forward.

Thus, when the walking assistance device 10 of the present embodiment is used, the user can easily transfer to the toilet bowl 61. Similarly, the walking assist device 10 can easily transfer to a chair or a bed. Accordingly, the walking assist device 10 is changed from the bed assist device 10 to the toilet toilet 61, the toilet toilet 61 to the walking assist device 10, and the walking assist device 10 to the living room sofa through the walking assist device 10. It can be transferred, and the range of user's behavior is expanded.

  Further, the support column 91 is rotatably supported by the rotation mechanism 93, and the support column 91 and the saddle 92 can be rotated rearward, whereby the user uses the walking assistance device 10, so that the body Since the saddle 92 can be moved backward when the saddle 92 is put in front of the saddle 92, it is not necessary for the user to move across the saddle 92, and the walking assist device 10 can be used easily. Further, in the present embodiment, as shown in FIG. 8, the saddle 92 is held so as to be rotatable about a rotation axis extending in the longitudinal direction of the support column 91, and this movement of the body is observed when the user walks. Following this, the saddle 92 rotates. This makes it easy to walk during walking and allows you to walk comfortably.

  The walking assist device 10 includes one or more wheels connected to the front support 7 and the lower support 9 as a movement assist. The movement assisting part is provided on the rear side of the front support part 7 and the lower support part 9 and the two wheels 12 and 13 provided in front of the front support part 7 and the lower support part 9. A single wheel 14 may be used. The distance between the two wheels 12 and 13 provided in front of the front support 7 and the lower support 9 is 30 cm to 60 cm, and the midpoint of the straight line connecting the two wheels, The distance from one wheel provided on the rear side of the front support part 7 and the lower support part 9 may be 40 cm to 150 cm. According to this, when a user takes a forward leaning posture, two wheels are arranged in front of which a force is applied, thereby enabling stable walking. Furthermore, the distance between the front wheels (front wheels), the so-called tread width, and the distance between the front wheels and the rear wheels, the so-called wheel base, are set appropriately, thereby enabling stable walking. Further, a one-way clutch may be provided on the rear wheel 14 or the bearing 16 so that the wheel 14 rotates only in the forward direction and the rotation in the backward direction is limited. Thereby, it is possible to prevent the rearward movement without the front support portion 7 and to prevent the vehicle from retreating unintentionally on a slope.

  The walking assist device 10 includes a holding unit 6 to which the front support unit 7 and the lower support unit 9 are fixed, and a front side of the holding unit 6, the front support unit 7, and the lower support unit 9. After connecting the front frame that connects each of the two wheels provided, and one wheel provided behind the holding portion 6, the front support portion 7, and the lower support portion 9. A side frame. According to this, when the user takes a forward leaning posture, the front frame that holds each of the two wheels is arranged in front of which force is applied, and one driven rear wheel is arranged. In addition to enabling stable walking, the rear portion is configured to be compact so that the walking assist device 10 can be easily routed. Moreover, as shown in FIG. 11, the walking assist device 10 may be configured to include one wheel between the rear frames 4 and 5. The number of rear wheels is not limited to one, and a plurality of rear wheels may be provided. For example, in FIG. 1, two wheels may be provided by independently providing a wheel 14 a on which two tires 14 b are mounted and an axle (not shown).

  The walking assist device 10 includes an upper limb support frame 1 that is held by the holding unit 6 and is supported by the user with the upper limb or places the upper limb. According to this, the user can control the upper limb support frame 1 with the upper limb, and the operation of determining the moving direction becomes easy. In addition, the user can walk with the upper limb supporting frame 1 supported by the upper limb or the upper limb placed on the upper limb supporting frame 1, and the stability during walking can be further improved. In particular, the upper limb support frame 1 of the present embodiment has a configuration in which a single tubular member is wound forward to form a loop, so that the gripping position and the position on which the upper limb is placed are not limited, and the user has a free posture. The upper limb support frame 1 can be operated. In addition, when a user performs the operation of holding the front support part 7 and the front frames 2 and 3 and determining the moving direction, the upper limb support frame 1 may be omitted.

  The front frames 2 and 3, the rear frame and the upper limb support frame 1 are formed by bending a tubular member. According to this, the number of parts of the apparatus and the manufacturing process can be reduced, and the cost reduction of the apparatus can be promoted.

  In particular, in this embodiment, the end portions of the front frames 2 and 3 and the rear frames 4 and 5 are bundled in parallel and held by the holding portion 6. Further, the ends of the upper limb support frame 1, the front frames 2, 3 and the rear frames 4, 5 are arranged on the same plane, and the ends of the frames 1 to 5 are attached to the planar holding unit 6. It is held on the surface. According to this, since the number of parts and the manufacturing process of the apparatus can be reduced, it is possible to further promote the cost reduction of the apparatus.

  The holding unit 6 is provided at a predetermined height from the ground plane, for example, at a position above the user's foot, and the front frame is bent from the holding unit 6 to the front of the device and extends to the front of the device. It is bent downward at the front end of the apparatus, and the wheel is provided at the lower end. According to this, the front frame does not interfere with the space at the foot of the user, particularly the range where the user steps from the standing position, and the degree of freedom of walking is increased. In the present embodiment, the holding portion 6 is provided above the saddle 92 so that the holding portion 6 is positioned above the foot of the user sitting on the saddle 92.

[Example 2]
Next, a second embodiment of the present invention will be described. In this embodiment, an example provided with a motor and a battery as a driving device for driving the rear wheels will be described.

  In this embodiment, a battery (not shown) and a controller (not shown) are provided on the rear frames 4 and 5 behind the lower support portion 9. A motor (not shown) and a reduction gear train (not shown) are provided near the axle of the rear wheel (rear wheel) 14. At the lower ends of the front frames 2 and 3, there is provided a steering section (not shown) for pivotally supporting the front wheels 12 and 13 so as to be rotatable about a rotation axis extending in the vertical direction. The steering unit has a motor (not shown) that rotates the front wheels 12 and 13 around a rotation axis extending in the vertical direction, and an encoder (not shown) that detects the rotation angle (steering angle) of the front wheels 12 and 13. Yes. The steering unit is electrically connected to the control unit, and rotates the front wheels 12 and 13 with a motor so that the steering angle of the front wheels 12 and 13 detected by the encoder becomes a value designated by the control unit.

  According to the present embodiment, the walking assistance device 10 can be moved without increasing the burden on the user even on an uphill, and the user's walking can be favorably assisted. In the present embodiment, the example in which each motor and the reduction gear train are provided so as to drive the rear wheel 14 of the right rear frame and the left rear frame has been described. However, each motor and the reduction gear train is the front wheel of each frame. 12 and 13 may be provided, or a steering part may be provided on the rear wheel 14 to steer the rear wheel 14 in accordance with the moving direction.

In the walking assistance device 10 of the present embodiment, it is configured to assist (assist) the user's walking with the driving force of the motor, but not limited to this, even if the user does not walk, It is good also as a structure which can drive | work at the speed designated by operation of the operation part. The operation unit may be a joystick type operation unit. In this case, the direction (operation direction) and the amount (operation amount) in which the operation stick of the joystick is tilted by the user's operation are converted into an operation signal and transmitted to the control unit. The operation unit controls the motor and the steering unit based on the operation direction and the operation amount indicated by the operation signal. That is, when the operating rod is tilted forward, the motor is rotated in the direction in which the walking assist device 10 moves forward, and the rotational speed is controlled according to the tilted amount (operation amount). On the other hand, when the operating rod is tilted backward, the motor is rotated in the direction in which the walking assist device 10 moves backward, and the rotational speed is controlled according to the tilted amount (operation amount). When the operating rod is tilted left and right, the front wheels 12 and 13 are rotated in a direction in which the walking assist device 10 bends left and right, and the steering angle is controlled in accordance with the tilted amount (operation amount). Thereby, it can move with the direction and speed which the user operated with the operation part.

  Moreover, in the walking assistance apparatus 10 of a present Example, although the rear wheel 14 showed the example provided with two wheels, not only this but a rear wheel may be comprised by one wheel. In this example, wheels are provided between the rear frames 4 and 5 and are supported by a bearing mechanism (not shown). Further, a battery and a control unit may be provided on the rear frames 4 and 5, and a motor and a reduction gear train may be provided near the axle of the rear wheel 14. Thereby, the rear wheel is rotationally driven by the driving force of the motor to assist (assist) the user's walking. Moreover, it is good also as a structure which can drive | work at the speed designated by operation of the operation part with the driving force of the motor, even if a user does not walk. By configuring the drive wheel with one wheel in this way, differential control is not necessary, and the device configuration can be simplified.

  In addition, the control device (not shown) may include an acceleration sensor, and the acceleration in the triaxial direction when the walking assist device 10 is used may be stored as a log in the nonvolatile memory. By reading the log from the non-volatile memory and verifying the vibration, tilt, sudden start, sudden stop, impact, etc. when using the walking assist device 10, there are no abnormal signs or dangerous use. You can determine if you are not doing something.

Example 3
Next, Embodiment 3 of the present invention will be described. In this embodiment, an example in which the lower support portion 9 is omitted will be described.

In FIG. 12, the use condition of the walking assistance apparatus 30 in a present Example is shown. 12A is a rear view, and FIG. 12B is a side view. In a present Example, it walks leaning on the front support part 7 in the state where the user stood. In this embodiment, since the user does not sit down and is in a standing posture, the height of the front support portion 7 and the upper limb support frame 1 is set in accordance with the standing state of the user. Other configurations are the same as those in the first embodiment. Moreover, it is good also as a structure which abbreviate | omitted the lower side support part 9 in above-mentioned Example 2. FIG.
[Modification]
In the walking assistance device 30 of the third embodiment, the example in which the lower support portion 9 is omitted is shown, but a simple support portion such as a belt may be provided instead of the saddle-shaped lower support portion 9. For example, as shown in FIG. 12, the saddle-shaped lower support portion 9 is omitted, and belts (support portions) are looped over the left and right sides of the upper limb support frame 1, the holding portion 6, and the front support portion 7. . FIG. 13 is a diagram illustrating a configuration in which a belt 901 is looped around a connection portion of the upper limb support frame 1 with the holding portion 6.
A user wears the belt so as to be positioned in a loop formed by the belt 901 when the walking assist device 30 is used, and to be in a desired support position such as diagonally below the user's buttocks or behind the waist. FIG. 13 is a diagram showing an example in which the belt is mounted so that the belt 901 is obliquely below the user's buttocks. Thereby, the user can restrain the waist or lowering the buttocks with the belt while leaning against the front support portion 7 when using the walking assist device 30, and the weight is supported so that the user can walk properly. Can assist. In addition, for the user, the feeling of use is improved, such as a sense of security and a good ride comfort, by appropriately supporting the waist and buttocks. In addition, the saddle-shaped lower support portion 9 is not required, and the entire apparatus can be simplified in structure and can be reduced in size and size. The belt 901 includes an upper limb support frame 1, a connection portion with the holding portion 6, the front surface support portion 7, or a fastener 902 such as a buckle on a part of the belt to adjust the length of the belt 901. The belt 901 may be detachable.

Example 4
FIG. 14 is a diagram showing an example of a walking assistance device for farm work, FIG. 14 (a) is a front view of the walking assistance device, FIG. 14 (b) is a left side view of the walking assistance device, and FIG. 14 (c). FIG. 3 is a plan view of a walking assist device. The walking assistance device 40 shown in FIG. 14 is mainly different from the walking assistance device 10 in FIG. 1 in that a basket is provided and a large-sized wheel is mounted. Note that elements having the same functions as those of the walking assist device 10 in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted.

  The walking assist device 40 includes a mounting table 62 on the front surface of the holding unit 6, and a basket 63 is detachably mounted on the mounting table 62.

  One end of the upper limb support frame 1R is held by the holding portion 6, is extended obliquely upward to the right from the holding portion 6, is bent forward by the bending portion 1a, and a brake lever 19L is provided near the front end. It has been. One end of the upper limb support frame 1L is held by the holding portion 6, is extended obliquely upward to the right from the holding portion 6, is bent forward by the bending portion 1b, and a brake lever 19L is provided near the front end. It has been. In the fourth embodiment, the right upper limb support frame 1R and the left upper limb support frame 1L are provided independently. However, the present invention is not limited thereto, and may be provided in a loop shape as shown in FIG.

  A wheel 12A is provided at the lower end of the right front frame 2, and a wheel 13A is provided at the lower end of the left front frame 3. The wheels 12A and 13A in this example are larger in diameter and wider than the wheels 12 and 13 in FIG. A wheel 240 is provided between the rear part of the right rear frame 4 and the rear part of the left rear frame 5. The wheel 240 of this example is larger in diameter and wider than the wheel 14 of FIG. The wheels 12A and 13A are supported by bearing mechanisms 121 and 131 fixed to the front frames 2 and 3, and the bearing mechanisms 121 and 131 have a brake (braking device) that brakes the rotation of the axle. . The wheel 240 is supported by a bearing mechanism 16 fixed to the rear frames 4 and 5, and the bearing mechanism 16 has a brake (braking device) that brakes the rotation of the axle. By gripping the brake lever 19L, the brake of the bearing mechanism 131 is actuated via a brake wire (not shown) to brake the wheel 13A. Further, by gripping the brake lever 19R, the brake of the bearing mechanism 121 is actuated via a brake wire (not shown) to brake the wheel 12A.

  Further, the front support portion 7A of this example is shorter or shorter than the front support portion 7 of FIG. 1, and the upper end of the front support portion 7 is formed at a position lower than the upper ends of the upper limb support frames 1R and 1L.

  As described above, the walking assistance device 40 according to the fourth embodiment is provided with the basket 63, so that it can accommodate and move harvested products, fertilizer, farm tools, and the like during farm work. Further, the walking assist device 40 can run even on uneven ground by adopting the wheels 240 having a large diameter, and can sink even on soft ground by adopting the wide wheels 240. Because it can be suppressed, it is suitable for moving agricultural land. Further, since the upper portion of the front support portion 7A is formed low, the movable range of the upper body such as arms and shoulders is wide even when the user leans against the front support portion 7A, which is suitable for farm work. In addition, the walking assistance apparatus 40 of FIG. 14 is not limited to the use at the time of farm work, You may be used for another use. For example, it may be used for shopping, and is particularly suitable for a long travel distance or carrying heavy goods in a warehouse type store or the like.

Example 5
Next, a fifth embodiment of the present invention will be described. The present embodiment is mainly different from the first embodiment in the shape of the rear frame and the configuration of the rear wheels, and the other configurations are the same. In the present embodiment, elements having the same functions as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

FIG. 15 is a diagram illustrating the walking assist device 50 according to the fifth embodiment, in which FIG. 15 (a) is a rear view of the walking assist device 50, FIG. 15 (b) is a left side view of the walking assist device, and FIG. (C) is a top view of a walking assistance device.

  The left rear frame 5B of the walking assistance device 50 is held at the front end by the holding portion 6, extends from the holding portion 6 to the lower side of the device, is bent obliquely upward and to the left at the rear of the device at the bent portion 5a, and downwards at the rear portion 5c. It is curved and a wheel 145 is provided at the lower end. The right rear frame 4B also has a symmetrical shape with the left rear frame 5B, extends rearward of the apparatus, and is provided with a wheel 144 at the lower end. The rear wheels 144 and 145 can rotate about a rotation axis extending vertically like the front wheels 12 and 13.

  As described above, the walking assist device 50 according to the fifth embodiment is configured such that the rear wheels 144 and 145 can rotate around the rotation shaft extending vertically like the front wheels 12 and 13. High degree of freedom of movement can be obtained. In addition, when there are two wheels 144 and 145 at the rear as in this embodiment, the distance between the two rear wheels is set to 10 cm to 25 cm. Thereby, when a user walks, the space | interval of two back wheels is too wide, and it can suppress that the leg extended back contacts wheel 144,145. Moreover, it can suppress that the space | interval of two back wheels is too narrow, and the movement of the walk assistance apparatus 50 becomes unstable.

Example 6
Next, a sixth embodiment of the present invention will be described. The present embodiment is different from the above-described first embodiment in that the configuration in which the front frame can be folded is different, and the other configurations are the same. In the present embodiment, elements having the same functions as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  FIG. 16 is a diagram illustrating the walking assist device 60 according to the sixth embodiment, where FIG. 16A is a plan view of the walking assist device before folding, and FIG. 16B is a plan view of the walking assist device after folding. FIG. In the walking assist device 60 of the sixth embodiment, the upper end portions of the front frames 2 and 3 are held by the holding portion 6 and the plate 71a of the front support portion 7 so as to be rotatable around a rotation axis extending in the vertical direction. Yes. That is, the front frames 2 and 3 are rotatable between the opened state of FIG. 16A and the closed state of FIG.

  At the time of walking, the front frames 2 and 3 are opened by rotating left and right around the rotation axis as shown in FIG. 16A, and fixed by a non-rotating mechanism (not shown) such as a screw. The angle at which the front frames 2 and 3 are opened is not particularly limited. For example, the angle θ formed by the straight line 75 that connects the front wheels 12 and 13 to the front wheels 12 and 13 from the rotation axis and the front-rear direction of the walking assist device 60, 20 degrees to 60 degrees, preferably 30 degrees to 45 degrees.

  On the other hand, at the time of storage, the anti-rotation mechanism is released, and the front frames 2 and 3 are closed by rotating forward about the rotation axis as shown in FIG.

  As described above, the walking assist device 60 of the sixth embodiment can be folded in a compact manner when stored by holding the front frames 2 and 3 so as to be rotatable.

  Further, the walking assistance device 60 of the sixth embodiment can adjust the width of the walking assistance device 60 by changing the opening angle θ of the front frames 2 and 3 according to the width of the passage and the surrounding environment. That is, the width of the walking assist device 60 can be narrowed when used in a narrow place, and the width of the walking assist device 60 can be increased when used in a wide place.

Example 7
Next, a seventh embodiment of the present invention will be described. The present embodiment is different from the above-described fourth embodiment in the configuration in which the front frame can be folded, and the other configurations are the same. In the seventh embodiment, elements having the same functions as those in the above-described fourth embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  FIG. 17 is a diagram illustrating the walking assist device 70 according to the seventh embodiment. FIG. 17A is a plan view of the walking assist device before folding, and FIG. 17B is a plan view of the walking assist device after folding. FIG. In the walking assist device 70 of the seventh embodiment, the upper ends of the front frames 2 and 3 are held by the holding portion 6 and the plate 71a of the front support portion 7 so as to be rotatable around a rotation axis extending in the vertical direction. Yes. That is, the front frames 2 and 3 are rotatable between the opened state of FIG. 17A and the closed state of FIG.

  At the time of walking, the front frames 2 and 3 are opened by rotating left and right around the rotation axis as shown in FIG. 17A, and are fixed by a rotation prevention mechanism (not shown) such as a screw. The angle at which the front frames 2 and 3 are opened is not particularly limited. For example, the angle θ formed by the straight line 75 that connects the front wheels 12 and 13 to the front wheels 12 and 13 from the rotation axis and the front-rear direction of the walking assist device 60, 20 degrees to 60 degrees, preferably 30 degrees to 45 degrees.

  On the other hand, at the time of storage, the anti-rotation mechanism is released, and the front frames 2 and 3 are closed by rotating forward about the rotation axis as shown in FIG.

  As described above, the walking assist device 70 of the seventh embodiment can be folded in a compact manner when stored by holding the front frames 2 and 3 so as to be rotatable.

  Further, the walking assistance device 60 of the sixth embodiment can adjust the width of the walking assistance device 60 by changing the opening angle θ of the front frames 2 and 3 according to the width of the passage and the surrounding environment. That is, the width of the walking assist device 60 can be narrowed when used in a narrow place, and the width of the walking assist device 60 can be increased when used in a wide place.

  When the left and right upper limb support frames 1R and 1L are provided independently as in the seventh embodiment, the right front frame 2 and the upper limb support frame 1R are formed of a single continuous tubular member, and the left front frame 3 and the upper limb support frame 1L. May be formed of a single continuous tubular member. Accordingly, as shown in FIG. 18, the front frames 2 and 3 and the left and right upper limb support frames 1R and 1L can be folded. That is, the angle θ of the front frames 2 and 3 can be changed by moving the upper limb support frames 1R and 1L, and the angle θ of the front frames 2 and 3 in conjunction with the upper limb support frames 1R and 1L (of the walking assist device 60). Width) can be adjusted.

[Others]
Each frame such as the upper limb support frame 1, the right front frame 2, the left front frame 3, the right rear frame 4, and the left rear frame 5 may be processed using, for example, a push-through bending apparatus as shown in FIG. 19. FIG. 19 is a schematic view of a push-through bending apparatus. In FIG. 19, the fixed portion 101 is provided with a fixed die 103 having an opening. The movable part 105 is provided with a movable die 107 having an opening. Further, a feeding device 111 for feeding the tubular member 109 from the fixed die 103 toward the movable die 107 is provided on the fixed portion 101 side.

A moving device 113 that moves and tilts the movable die 107 relative to the fixed die 103 is provided between the fixed portion 101 and the movable portion 105. Then, while the tubular member 109 is pushed from the opening of the fixed die 103 to the opening of the movable die 107 using the feeding device 111, the movable die 107 is moved and inclined with respect to the fixed die 103 using the moving device 113. The member 109 is bent into a three-dimensional shape. In addition, the position (and position change) of the movable part 105 controlled by the moving device 113 is determined based on a program by a control device (not shown).

  By processing each frame such as the upper limb support frame 1, the right front frame 2, the left front frame 3, the right rear frame 4, and the left rear frame 5 using such a push-bending device, it is easier for the user. It is possible to appropriately manufacture a walking assistance device according to height, shoulder width, and the like.

  The cross-sectional shapes of the upper limb support frame 1, the right front frame 2, the left front frame 3, the right rear frame 4, the left rear frame 5, and the like are generally circular, but are not necessarily limited to a circular shape. For example, the cross-sectional shapes of the right front frame 2, the left front frame 3, the right rear frame 4, and the left rear frame 5 may be an elliptical shape or an oval shape whose upper and lower sides are the longer diameter side. Furthermore, it is good also as a polygonal cross section. Moreover, the material of each frame is not particularly limited. When the above push-through bending apparatus is used, metals such as iron, stainless steel, and aluminum are desirable. In addition, resin, carbon fiber, wood, bamboo, or the like can be used.

  Moreover, said Example is only the example of the walking assistance apparatus which concerns on this invention, and is not the meaning which limits this invention to said structure. Naturally, the shape of each frame, the shape of the connecting member, and the like can be changed without departing from the spirit of the present invention.

1 Upper limb support frame 2 Front right frame (front frame)
3 Front left frame (front frame)
4 Right rear frame (rear frame)
5 Left rear frame (rear frame)
6 Holding part 7 Front support part 7a Abdominal part support part 7b Chest support part 9 Lower support part 10, 30 Walking assist device 12, 13, 14 Wheel (movement assist part)
14a Wheel 14b Tire 16 Bearing mechanism 19 Brake lever 71a, 71b Plate 72a, 72b, 72c Pad 79 Sensor 91 Strut 92 Saddle 93 Rotating mechanism

Claims (14)

  A walking assistance device characterized in that it can directly support the front of the user's torso during walking and at rest, and can move along with the user's walking while supporting the front of the user. The walking assist device according to claim 1,
Front support means for directly supporting the front of the user's torso;
A walking assistance device comprising: a movement assisting means that enables the walking assistance device to move in a horizontal direction with respect to a floor surface or the ground.   The walking assist device according to claim 2, wherein the front support means is a front contact member that contacts the chest, abdomen, or lower abdomen of the user.   The walking assist device according to claim 2, further comprising lower support means for supporting the weight of the user from the lower side.   The walking assist device according to claim 4, wherein the lower support means includes a seatable saddle or belt that supports the weight of the user.   The walking assistance device according to claim 4 or 5, wherein the movement assisting means includes at least one wheel connected to the front support means and the lower support means.   The movement assisting means includes two wheels provided in front of the front support means and the lower support means, and one wheel provided on the rear side of the front support means and the lower support means. The walking assistance device according to claim 6, wherein the walking assistance device is provided.   The movement assist means includes two wheels provided in front of the front support means and the lower support means, and two wheels provided rearward of the front support means and the lower support means. The walking assist device according to claim 6, wherein an interval between two wheels provided on the rear side of the front support means and the lower support means is 10 cm to 25 cm.   The distance between the two wheels provided in front of the front support means and the lower support means is 30 cm to 60 cm, the midpoint of a straight line connecting the two wheels, the front support means and the lower support means. The walking assist device according to any one of claims 4 to 8, wherein a distance from a wheel provided on the rear side of the side support means is 40 cm to 150 cm.   The walking assistance device according to any one of claims 4 to 9, wherein an interval between two wheels provided in front of the front support means and the lower support means can be changed. A holding portion to which the front support means and the lower support means are fixed;
A front frame connecting the holding portion and the front support means and a wheel provided in front of the lower support means;
A rear frame connecting the holding portion and the wheels provided on the rear side of the front support means and the lower support means;
The walking assistance device according to any one of claims 4 to 10, further comprising: The walking assistance device according to claim 11, further comprising an upper limb support frame that is held by the holding portion and is supported by the user with the upper limb or on the upper limb. The walking assistance device according to claim 11 or 12, wherein at least one of the front frame and the rear frame is formed by bending a tubular member.   The walking assistance device according to claim 12, wherein the upper limb support frame is formed by bending a tubular member.

Images